摘要
以一种双偏置7R冗余机械臂为研究对象,探讨其单关节容错空间的优化问题.针对容错空间体积的变化规律,考虑容错空间与工作空间的关系,引入转换比的概念,通过选取合适的关节锁定角范围对机械臂的容错空间进行了优化.研究结果表明,在两种不同的锁定角范围取值方式下,随着锁定角的增大,转换比均呈现先上升后下降的规律.同时,最高转换比对应的锁定角亦得到确定.
Optimization of fault-tolerant workspace for a 7R redundant manipulator in the condition of single-joint locking was studied systematically.Firstly,the concept of conversion ratio was introduced based on the change rule of the fault-tolerant workspace volume and the relationship consideration between fault-tolerant workspace and locking workspace.And then the redundant manipulator＇s fault-tolerant workspace was optimized by determining suitable joint＇s locking range.The study results show conversion ratio increases initially and decreases afterwards as the locking angle increases by two kinds of value method.Meanwhile,the locking angle of highest conversion ratio is also determined.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2017年第9期933-936,共4页
Transactions of Beijing Institute of Technology
基金
国家部委预研项目(870102056)
关键词
冗余机械臂
容错空间
转换比
锁定角范围
redundant manipulator
fault-tolerant workspace
conversion ratio
locking range
